Method and device for carrying out a distance or speed-regulating function for a single-track motor vehicle

ABSTRACT

A method for carrying out a distance-regulating or speed-regulating function for a single-track motor vehicle. An activated distance-regulating or speed-regulating function can be deactivated by the driver through actuation of a brake operating element, if the actuation intensity of the brake operating element exceeds a first threshold value. The presence of a collision risk is ascertained by an environmental sensor system. When there is a risk of collision, an emergency braking assistance function is activated through the actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value. The second threshold value is lower than the first threshold value. The activated distance-regulating or speed-regulating function is continued independently of the driver after the termination of the emergency braking assistance function, with the settings that were present before the activation of the emergency braking assistance function.

BACKGROUND INFORMATION

German Patent Application No. DE 10 2015 217 256 A1 describes a method for carrying out an emergency braking process in a single-track motor vehicle, in which

-   -   using an environmental sensor system that acquires the         environment in front of the motor vehicle, an accident         probability variable is ascertained that describes the         probability of an accident of the motor vehicle,     -   for the case in which, based on an evaluation of the accident         probability variable, it is determined that the accident         probability exceeds a specified threshold value, a         driver-independent emergency braking process of the motor         vehicle is initiated.

SUMMARY

The present invention relates to a method for carrying out a distance-regulating or speed-regulating function, or ACC function, for a single-track motor vehicle. In accordance with an example embodiment of the present invention, in the method:

-   -   the activated distance-regulating or speed-regulating function         can be deactivated by the driver by actuating a brake operating         element when the actuation intensity of the brake operating         element exceeds a first threshold value,     -   the presence of a collision risk for the single-track motor         vehicle is ascertained by an environmental sensor system         attached to the single-track motor vehicle,     -   when there is a risk of collision, an emergency braking         assistance function is activated through the actuation of the         brake operating element by the driver with an actuation         intensity exceeding a second threshold value, the assistance         function boosting the braking intensity corresponding to the         actuation intensity independently of the driver,     -   the second threshold value being lower than the first threshold         value,     -   the activated distance-regulating or speed-regulating function         being continued independently of the driver after the         termination of the emergency braking assistance function, with         the settings that were present before the activation of the         emergency braking assistance function.

This permits an embedding of an emergency braking assistance function in a distance-regulating or speed-regulating function. When a short-term strong braking process is required whose strength cannot be reached in the context of the distance-regulating or speed-regulating function, this process can be carried out by the driver using an emergency braking assistant without a deactivation of the distance-regulating or speed-regulating function.

In an advantageous embodiment of the present invention, the emergency braking assistance function is activated only when there is a risk of collision, through actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value, if the second threshold value is lower than the first threshold value. In this way, it is ensured that the emergency braking assistance function can be carried out only when there is a risk of collision, without deactivation of the distance-regulating or speed-regulating function.

In an advantageous embodiment of the present invention, the brake operating element is a brake pedal, a brake lever, or a brake rotary handle.

In an advantageous embodiment of the present invention, the single-track motor vehicle is a motorcycle.

In an advantageous embodiment of the present invention, the environmental sensor system is a radar sensor system, a video sensor system, a lidar sensor system, or an ultrasonic sensor system. Such sensor systems are already available in passenger motor vehicles.

In an advantageous embodiment of the present invention, the braking intensity is the braking force, the braking torque, or the brake pressure.

The present invention further includes a device containing means that are designed to carry out the methods according to the present invention. The means are in particular a control device in which the program code for carrying out the method according to the present invention is stored.

BRIEF DESCRIPTION OF THE DRAWING

FIG. 1 shows the sequence of an example embodiment of the method according to the present invention.

DETAILED DESCRIPTION OF EXAMPLE EMBODIMENTS

ACC functions can be deactivated through actuation of the brake operating element by the driver. In addition, it is appropriate to limit the driver-independent brake decelerations in an ACC system to a maximum value in order not to overburden the driver through an unexpectedly strong braking intervention.

A possible emergency braking assistance function for two-wheeled vehicles is based on the consideration that, for safety reasons, this function is activated only when the braking force requested by the driver is not adequate to avoid a collision. The emergency braking assistance function is not triggered in driver-independent fashion, but rather only when the driver initiates a braking via a brake operating element. The emergency braking assistance function then boosts the braking force requested by the driver. As soon as the driver is no longer actuating the brake operating element, the emergency braking assistance function is terminated. In this way, it is ensured that the driver of the two-wheeled vehicle retains as much control as possible over the vehicle.

A combination of the ACC function and the emergency braking assistance function is enabled when the brake operating element threshold values for the triggering of the emergency braking assistance function and for the termination of the ACC function are selected to be different. Here, the triggering threshold value for the emergency braking assistance function is lower than that for the deactivation of the ACC function. When there is a risk of collision, the emergency braking assistance function boosts the braking intensity specified by the driver as long as the driver actuates the brake pedal. After the termination of the emergency braking assistance function, the distance-regulating or speed-regulating function, or ACC function, continues.

FIG. 1 shows the sequence of an embodiment of the method according to the present invention. After the start of the method in block 100, in block 101 the distance-regulating or speed-regulating function, or ACC function, is activated, and in block 102 the environment in front of the single-track motor vehicle is acquired and analyzed by an environmental sensor system attached to the single-track motor vehicle. In block 103, on the basis of the output signals of the environmental sensor system it is ascertained whether there is a risk of collision for the single-track motor vehicle. If this is not the case, then the method returns to block 102. If, however, there is a risk of collision, then in block 104 the presence of an actuation of a brake operating element by the driver is ascertained. In block 105, it is checked whether the strength of actuation of the brake operating element by the driver exceeds a specified threshold value. If this is not the case, then the method returns to block 104. If, however, the actuation strength exceeds the threshold value, then in block 106 the emergency braking assistance function is activated. This function is active as long as the driver actuates the brake operating element. After termination of the emergency braking assistance function, in block 107 the ACC function is resumed, and the method ends in block 108. 

1-7. (canceled)
 8. A method for carrying out a distance-regulating or speed-regulating function for a single-track motor vehicle, in which an the activated distance-regulating or speed-regulating function can be deactivated by the driver through actuation of a brake operating element, when an actuation intensity of the brake operating element exceeds a first threshold value, the method comprising: ascertaining presence of a collision risk for the single-track motor vehicle by an environmental sensor system attached to the single-track motor vehicle; based on ascertaining a risk of collision, activating an emergency braking assistance function through actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value, the assistance function boosting a braking intensity corresponding to the actuation intensity independently of the driver, the second threshold value being lower than the first threshold value; and continuing the activated distance or speed-regulating function independently of the driver after termination of the emergency braking assistance function, with settings that were present before the activation of the emergency braking assistance function.
 9. The method as recited in claim 8, wherein the emergency braking assistance function is activated only when there is a risk of collision, through actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value, when the second threshold value is lower than the first threshold value.
 10. The method as recited in claim 8, wherein the brake operating element is a brake pedal or a brake lever or a brake rotary handle.
 11. The method as recited in claim 8, wherein the single-track motor vehicle is a motorcycle.
 12. The method as recited in claim 8, wherein the environmental sensor system is a radar sensor system or a video sensor system or a lidar sensor system or an ultrasonic sensor system.
 13. The method as recited in claim 8, wherein the braking intensity is a braking force or a braking torque or a brake pressure.
 14. A device, comprising: a control unit configured to carry out a distance-regulating or speed-regulating function for a single-track motor vehicle, in which an the activated distance-regulating or speed-regulating function can be deactivated by the driver through actuation of a brake operating element, when the actuation intensity of the brake operating element exceeds a first threshold value, the control unit configured to: ascertain presence of a collision risk for the single-track motor vehicle by an environmental sensor system attached to the single-track motor vehicle; based on ascertaining a risk of collision, activate an emergency braking assistance function through actuation of the brake operating element by the driver with an actuation intensity exceeding a second threshold value, the assistance function boosting a braking intensity corresponding to the actuation intensity independently of the driver, the second threshold value being lower than the first threshold value; and continue the activated distance or speed-regulating function independently of the driver after termination of the emergency braking assistance function, with settings that were present before the activation of the emergency braking assistance function. 